Class final_mockable

Defined in File mpu6500.hpp

Nested Relationships

Nested Types

Struct final_mockable::RawData

Inheritance Relationships

Base Types

public modm::pt::Protothread
public tap::communication::sensors::imu::ImuInterface (Class ImuInterface)

Class Documentation

class final_mockable : public modm::pt::Protothread, public tap::communication::sensors::imu::ImuInterface 

A class specifically designed for interfacing with the RoboMaster type A board Mpu6500.

To use this class, call Remote::init() to properly initialize and calibrate the MPU6500. Next, call Remote::read() to read acceleration, gyro, and temperature values from the imu. Use the getter methods to access imu information.

Note

if you are shaking the imu while it is initializing, the offsets will likely be calibrated poorly and unexpectedly bad results may occur.

Public Types

using ProcessRawMpu6500DataFn = void (*)(const uint8_t (&)[ACC_GYRO_TEMPERATURE_BUFF_RX_SIZE], modm::Vector3f &accel, modm::Vector3f &gyro)

Public Functions

Mpu6500(Drivers *drivers)

~Mpu6500() = default

void init(float sampleFrequency, float mahonyKp, float mahonyKi): Initialize the imu and the SPI line. Uses SPI1, which is internal to the type A board.

Note

this function can block for approximately 12 seconds.

void periodicIMUUpdate(): Calculates the IMU’s pitch, roll, and yaw angles usign the Mahony AHRS algorithm. Also runs a controller to keep the temperature constant. Call at 500 hz for best performance.

bool read()

Read data from the imu. This is a protothread that reads the SPI bus using nonblocking I/O.

Returns:: true if the function is not done, false otherwise

inline bool run()

inline ImuState getImuState() const

Returns the state of the IMU. Can be not connected, connected but not calibrated, calibrating or calibrated. When not connected, IMU data is undefiend. When not calibrated, IMU data is valid but the computed yaw angle data will drift. When calibrating, the IMU data is invalid. When calibrated, the IMU data is valid and assuming proper calibration the IMU data should not drift.

To be safe, whenever you call functions that return IMU (acceleration, gyroscope, temperature, and angle) data, call this function to ensure the data you are about to receive is not undefined.

inline virtual const char *getName() const

inline float validateReading(float reading): If the imu is not initialized, logs an error and returns 0. Otherwise, returns the value passed in.

inline virtual float getAx () final _mockable: Returns the acceleration reading in the x direction, in \(\frac{\mbox{m}}{\mbox{second}^2}\).

inline virtual float getAy () final _mockable: Returns the acceleration reading in the y direction, in \(\frac{\mbox{m}}{\mbox{second}^2}\).

inline virtual float getAz () final _mockable: Returns the acceleration reading in the z direction, in \(\frac{\mbox{m}}{\mbox{second}^2}\).

inline virtual float getGx () final _mockable: Returns the gyroscope reading in the x direction, in \(\frac{\mbox{degrees}}{\mbox{second}}\).

inline virtual float getGy () final _mockable: Returns the gyroscope reading in the y direction, in \(\frac{\mbox{degrees}}{\mbox{second}}\).

inline virtual float getGz () final _mockable: Returns the gyroscope reading in the z direction, in \(\frac{\mbox{degrees}}{\mbox{second}}\).

inline virtual float getTemp () final _mockable

Returns the temperature of the imu in degrees C.